KR20060129688A - Electro control suspension system - Google Patents

Electro control suspension system Download PDF

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Publication number
KR20060129688A
KR20060129688A KR1020050050296A KR20050050296A KR20060129688A KR 20060129688 A KR20060129688 A KR 20060129688A KR 1020050050296 A KR1020050050296 A KR 1020050050296A KR 20050050296 A KR20050050296 A KR 20050050296A KR 20060129688 A KR20060129688 A KR 20060129688A
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South Korea
Prior art keywords
control gain
control
control command
command value
calculating
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KR1020050050296A
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Korean (ko)
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KR100675480B1 (en
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김완일
이정우
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주식회사 만도
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Priority to KR1020050050296A priority Critical patent/KR100675480B1/en
Priority to JP2006009743A priority patent/JP4199239B2/en
Priority to CNB2006100023259A priority patent/CN100465005C/en
Priority to DE602006006754T priority patent/DE602006006754D1/en
Priority to EP06101136A priority patent/EP1733903B1/en
Priority to US11/347,180 priority patent/US7526665B2/en
Publication of KR20060129688A publication Critical patent/KR20060129688A/en
Application granted granted Critical
Publication of KR100675480B1 publication Critical patent/KR100675480B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B60G17/08—Characteristics of fluid dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

An electronic control suspension system is provided to improve riding comfort and steering stability by applying nonlinear control gain according to signals from a vertical acceleration sensor and calculating control command for controlling damping force of a damper. An electronic control suspension system includes a sensor unit(100) extracting and providing vertical acceleration factor of a vehicle, a signal processing unit(110) calculating vertical speed of the vehicle by calculating vertical acceleration factor from the sensor unit, a control gain decision unit(120) setting control gain according to amplitude of vertical acceleration factor and extracting control gain corresponding to amplitude of vertical acceleration factor, a control command calculation unit(130) calculating control command by using control gain from the control gain decision unit and vertical speed of the vehicle from the signal processing unit, and a damper driving unit(140) driving a variable damper(150) based on the control command. The electronic control suspension system calculates the control command value by decreasing and setting control gain in inputting a high frequency signal and increasing and setting control gain in inputting a low frequency signal.

Description

전자제어 현가장치{ELECTRO CONTROL SUSPENSION SYSTEM}Electronic Control Suspension {ELECTRO CONTROL SUSPENSION SYSTEM}

도 1은 종래 기술에 의한 전자제어 현가장치를 도시한 블록도이고,1 is a block diagram showing an electronic control suspension according to the prior art,

도 2는 본 발명에 따른 전자제어 현가장치를 도시한 블록도이고,2 is a block diagram illustrating an electronically controlled suspension device according to the present invention;

도 3은 본 발명의 제어 이득 산출 시에 이용되는 비선형 제어 이득맵을 도시한 예시도이다.3 is an exemplary diagram illustrating a nonlinear control gain map used when calculating the control gain of the present invention.

＜도면의 주요부분에 대한 부호의 설명＞<Description of the code | symbol about the principal part of drawing>

100 : 센서부 110 : 신호 처리부100 sensor unit 110 signal processing unit

120 : 제어 이득 결정부 130 : 제어 지령치 산출부120: control gain determination unit 130: control command value calculation unit

140 : 댐퍼 구동부 150 : 가변 댐퍼140: damper drive unit 150: variable damper

본 발명은 전자제어 현가장치에 관한 것으로, 특히 승차감과 조정 안정성을 확보할 수 있는 전자제어 현가장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronically controlled suspension device, and more particularly, to an electronically controlled suspension device that can secure ride comfort and adjustment stability.

통상적으로, 현가장치는 차량의 축과 프레임간의 완충장치나 스프링으로 이루어지는 충격완화 장치로써, 차량의 상하방향을 유연하게 하고, 노면에서 받는 충역 및 진동을 완화시켜 차체에 전달되지 않도록 하는 것이다.Typically, the suspension device is a shock absorbing device consisting of a shock absorber or a spring between the shaft and the frame of the vehicle, to soften the up and down direction of the vehicle, and to reduce the impulse and vibration received from the road surface so as not to be transmitted to the vehicle body.

이하, 첨부된 도면을 참조하여 종래의 전자제어 현가장치에 관하여 설명한다. 도 1은 종래 기술에 의한 전자제어 현가장치를 도시한 블록도이고, 도 2는 종래 기술에서 제어 이득을 결정하기 위한 그래픽이다.Hereinafter, a conventional electronic control suspension will be described with reference to the accompanying drawings. 1 is a block diagram showing an electronic control suspension according to the prior art, Figure 2 is a graphic for determining the control gain in the prior art.

전자제어 현가장치는, 도 1에 도시된 바와 같이, 차체의 전후륜에 장착된 수직 가속도 센서로서 수직 가속도 성분을 검출하여 제공하는 센서부(10)와, 센서부(10)에서 출력되는 신호에 속도 성분을 검출하는 신호 처리부(20)와, 신호 처리부(20)에서 출력되는 신호와 기 설정된 제어 이득(K)을 이용하여 제어 지령치를 산출하는 제어 지령치 산출부(30)와, 제어 지령치에 의거하여 가변 댐퍼(50)의 감쇠력을 제어하는 액추에이터와 같은 댐퍼 구동부(40)로 구성된다.As shown in FIG. 1, the electronically controlled suspension device is a vertical acceleration sensor mounted on front and rear wheels of a vehicle body, and includes a sensor unit 10 that detects and provides a vertical acceleration component, and a signal output from the sensor unit 10. On the basis of the signal processing unit 20 for detecting the velocity component, the control command value calculating unit 30 for calculating the control command value using the signal output from the signal processing unit 20 and the preset control gain K, and the control command value. It is composed of a damper driver 40, such as an actuator for controlling the damping force of the variable damper (50).

이때, 가변 댐퍼(50)에는 솔레노이드 밸브나 스텝 모터와 같은 액추에이터와 같은 댐퍼 구동부(40)가 연결되어 있으며, 하드, 소프트 등과 같은 2개 이상의 감쇠력 특성 곡선을 가지고 있다. 이때 가변 댐퍼(50)는 댐퍼 구동부(40)의 구동에 의해 연속 또는 다단으로 감쇠력을 변화시킨다. 여기서, 댐퍼 구동부(40)는 제어 지령치 산출부(30)로부터의 제어 지령치에 근거하여 가변 댐퍼(50)를 구동시키고, 이에 따라 가변 댐퍼(50)는 감쇠력을 발생시켜 노면의 진동의 차체 전달을 억제시켜 승차감을 향상시키거나 접지력 변동을 억제시켜 차량의 조정 안정성을 향상시킨다. At this time, the variable damper 50 is connected to a damper driving unit 40 such as an actuator such as a solenoid valve or a step motor, and has two or more damping force characteristic curves such as hard and soft. At this time, the variable damper 50 changes the damping force continuously or in multiple stages by driving the damper driver 40. Here, the damper driver 40 drives the variable damper 50 based on the control command value from the control command value calculator 30, and accordingly the variable damper 50 generates a damping force to transmit the vehicle body to the vibration of the road surface. Suppression improves ride comfort or suppresses traction fluctuations, improving vehicle stability.

가변 댐퍼(50)를 제어하는 댐퍼 구동부(40)에 출력되는 제어 지령치는 제어 지령치 산출부(30)에서 산출되며, 제어 지령치 산출부(30)는 이러한 제어 지령치를 산출할 때 적용되는 제어 이득(K)을 기 설정된 상수값을 이용한다. 이때 제어 지 령치 산출에 이용되는 제어 이득(K)이 큰 상수값으로 설정되어 있고 신호 처리부(20)로부터 굴곡이 작은 노면인 고주파 성분이 입력될 때 제어 지령치 산출부(30)는 큰 제어 이득(K)에 따라 비교적 큰 제어 지령치를 출력하게 되고, 댐퍼 구동부(40)는 이러한 큰 제어 지령치에 따라 소프트 제어가 필요한 굴곡이 작은 노면에 대해 가변 댐퍼(50)를 하드하게 제어하기 때문에 승차감이 저해되는 문제점이 있다.The control command value output to the damper drive unit 40 that controls the variable damper 50 is calculated by the control command value calculation unit 30, and the control command value calculation unit 30 controls the control gain applied when calculating the control command value. Use K) for a preset constant value. At this time, when the control gain K used for calculating the control command value is set to a large constant value and a high frequency component, which is a small curved road surface, is input from the signal processing unit 20, the control command value calculation unit 30 generates a large control gain ( According to K), a relatively large control command value is output, and the damper drive unit 40 hardly controls the variable damper 50 on a small curved road surface requiring soft control according to such a large control command value, so that the riding comfort is impaired. There is a problem.

또한, 제어 이득(K)이 작은 상수값으로 설정되어 있고 신호 처리부(20)로부터 굴곡이 큰 노면인 저주파 성분이 입력될 때 제어 지령치 산출부(30)는 작은 제어 이득에 따라 비교적 작은 제어 지령치를 출력하게 되고, 댐퍼 구동부(40)는 이러한 작은 제어 지령치에 따라 하드 제어가 필요한 굴곡이 큰 노면에 대해 가변 댐퍼(50)를 소프트하게 제어하기 때문에 승차감이 저해되는 문제점이 있다.In addition, when the control gain K is set to a small constant value and a low frequency component that is a large curved road surface is input from the signal processing unit 20, the control command value calculator 30 calculates a relatively small control command value according to the small control gain. The damper driver 40 softly controls the variable damper 50 for a curved road surface requiring hard control in accordance with the small control command value, and thus, the riding comfort is impaired.

본 발명의 목적은 이와 같은 종래 기술의 문제점을 해결하기 위한 것으로, 수직 가속도 센서에서 출력되는 신호별로 비선형 제어 이득을 적용하여 댐퍼의 감쇠력을 제어하기 위한 제어 지령치를 산출하여 승차감과 조정 안정성을 확보할 수 있는 전자제어 현가장치를 제공하고자 한다.An object of the present invention is to solve the problems of the prior art, by applying a non-linear control gain for each signal output from the vertical acceleration sensor to calculate a control command value for controlling the damping force of the damper to secure a ride comfort and adjustment stability To provide an electronically controlled suspension device.

상기와 같은 본 발명의 목적을 달성하기 위한 본 발명은, 가변 댐퍼를 제어하기 위한 제어 지령치를 산출하는 전자제어 현가장치에 있어서, 차체의 수직 가속도 성분을 추출하여 제공하는 센서부와, 상기 센서부에서 제공되는 수직 가속도 성분을 연산하여 차체의 수직 속도를 산출하는 신호 처리부와, 상기 수직 가속도 성 분의 진폭별 제어 이득이 설정되어 있으며, 상기 센서부에서 제공되는 수직 가속도 성분의 진폭을 검출한 후 이에 대응되는 제어 이득을 추출하는 제어 이득 결정부와, 상기 제이 이득 결정부에서 제공되는 제어 이득과 상기 신호 처리부에서 제공되는 차체의 수직 속도를 이용하여 제어 지령치를 산출하는 제어 지령치 산출부와, 상기 제어 지령치에 의거하여 상기 가변 댐퍼를 구동시키는 댐퍼 구동부를 포함한다.According to an aspect of the present invention, there is provided an electronically controlled suspension device for calculating a control command value for controlling a variable damper, comprising: a sensor unit for extracting and providing a vertical acceleration component of a vehicle body; The signal processing unit calculates the vertical velocity of the vehicle body by calculating the vertical acceleration component provided by, and the control gain for each amplitude of the vertical acceleration component is set, and after detecting the amplitude of the vertical acceleration component provided by the sensor unit. A control gain determiner for extracting a control gain corresponding to the control gain, a control command value calculator for calculating a control command value using the control gain provided from the J gain determiner and a vertical speed of the vehicle body provided from the signal processor; And a damper driver for driving the variable damper based on a control command value.

이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시 예에 대하여 상세히 설명하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 전자제어 현가장치를 도시한 블록도이고, 도 3은 본 발명의 제어 이득 산출 시에 이용되는 비선형 제어 이득맵을 도시한 예시도이다.FIG. 2 is a block diagram illustrating an electronically controlled suspension device according to the present invention, and FIG. 3 is an exemplary diagram illustrating a nonlinear control gain map used when calculating the control gain of the present invention.

도 2를 참조하면, 본 발명에 따른 전자제어 현가장치는 센서부(100), 신호 처리부(110), 제어 이득 결정부(120), 제어 지령치 산출부(130), 댐퍼 구동부(140) 및 가변 댐퍼(150)로 구성된다.Referring to FIG. 2, the electronically controlled suspension device according to the present invention includes a sensor unit 100, a signal processing unit 110, a control gain determining unit 120, a control command value calculating unit 130, a damper driving unit 140, and a variable unit. The damper 150 is configured.

센서부(100)는 차체의 전후륜 좌우측에 장착된 수직 가속도 센서로서 차량의 수직 가속도 성분을 검출하여 신호 처리부(110)에 제공하고, 신호 처리부(110)는 수직 가속도 성분을 적분하여 차체의 수직 방향 속도를 산출하여 제어 이득 결정부(120)와 제어 지령치 산출부(130)에 제공한다.The sensor unit 100 is a vertical acceleration sensor mounted on the front left and right wheels of the vehicle body and detects the vertical acceleration component of the vehicle and provides it to the signal processing unit 110. The signal processing unit 110 integrates the vertical acceleration component to vertically determine the vehicle body. The direction velocity is calculated and provided to the control gain determining unit 120 and the control command value calculating unit 130.

제어 이득 결정부(120)에는 도 3에 도시된 바와 같이 각 구간별로 선형이며 전체적으로 비선형을 갖는 비선형 제어 이득 맵(130a)이 설정되어 있으며, 이러한 제어 이득 결정부(120)는 비선형 제어 이득맵(130a)을 토대로 신호 처리부(110)에서 제공되는 차체 수직 방향 속도 신호의 진폭을 검출한 후에 이에 대응되는 제어 이득을 추출한다.As shown in FIG. 3, the control gain determiner 120 is configured with a nonlinear control gain map 130a that is linear and generally nonlinear for each section, and the control gain determiner 120 includes a nonlinear control gain map ( After detecting the amplitude of the vehicle body vertical speed signal provided by the signal processor 110 based on 130a), the control gain corresponding thereto is extracted.

즉, 제어 이득 결정부(120)는 차체 수직 방향 속도 신호의 진폭이 U1보다 작거나 같은 경우 입력 U1에 해당되는 제어 이득 a1을 추출하여 제어 지령치 산출부(130)에 제공하고, 차체 수직 방향 속도 신호의 진폭이 U1보다 크고 U2보다 작거나 같은 경우 비선형 제어 이득맵에서 제어 이득 a2를 추출하여 제어 지령치 산출부(130)에 제공한다. That is, the control gain determiner 120 extracts the control gain a1 corresponding to the input U1 when the amplitude of the vehicle body vertical speed signal is less than or equal to U1, and provides the control gain a1 to the control command value calculating unit 130. When the amplitude of the signal is greater than U1 and less than or equal to U2, the control gain a2 is extracted from the nonlinear control gain map and provided to the control command value calculator 130.

제어 지령치 산출부(130)는 제어 이득 결정부(120)에서 제공된 제어 이득과 신호 처리부(110)에서 제공된 차체 수직 방향 신호를 연산하여 제어 지령치를 산출하여 댐퍼 구동부(140)에 제공한다. 이와 같이, 제어 지령치 산출부(130)는 기 설정된 제어 이득을 적용하여 제어 지령치를 산출하는 것이 아니라 신호 처리부(110)에서 입력되는 신호에 의거한 제어 이득을 제어 이득 결정부(120)로부터 제공받아 제어 지령치를 산출하기 때문에 가변 댐퍼(150)를 정확히 제어할 수 있는 제어 지령치를 산출할 수 있다.The control command value calculating unit 130 calculates the control command value by calculating the control gain provided by the control gain determining unit 120 and the vehicle body vertical direction signal provided by the signal processing unit 110, and provides the control command value to the damper driver 140. As such, the control command value calculating unit 130 receives the control gain based on the signal input from the signal processing unit 110 from the control gain determining unit 120 instead of calculating the control command value by applying the preset control gain. Since the control command value is calculated, the control command value for accurately controlling the variable damper 150 can be calculated.

댐퍼 구동부(140)는 제어 지령치 산출부(130)에서 제공된 제어 지령치에 의거하여 가변 댐퍼(150)를 소프트 또는 하드하게 제어한다.The damper driver 140 softly or hardly controls the variable damper 150 based on the control command value provided by the control command value calculator 130.

이와 같은 본 발명의 제어 이득 결정부(120)는 제어 이득 결정 시 차체 수직 방향의 신호를 이용하는 경우를 예로 들어 설명하였지만, 센서부(100)에서 제공되는 수직 가속도 성분을 입력받아 제어 이득을 설정할 수 있다. 즉, 제어 이득 결 정부(120)는 수직 가속도 성분에 대한 진폭을 검출한 후 이에 대응되는 제어 이득을 추출하여 제어 지령치 계산부(130)에 제공한다.As described above, the control gain determiner 120 according to the present invention uses a signal in the vehicle body vertical direction when determining the control gain. However, the control gain determiner 120 may set the control gain by receiving a vertical acceleration component provided from the sensor unit 100. have. That is, the control gain determination unit 120 detects the amplitude of the vertical acceleration component and then extracts the control gain corresponding to the vertical acceleration component and provides it to the control command value calculator 130.

본 발명에 따른 전자제어 현가장치는 굴곡이 작은 노면 성분인 고주파 신호가 입력될 때 제어 이득을 작게 설정한 후 이를 토대로 제어 지령치를 산출하고, 굴곡이 큰 노면 성분인 저주파 신호가 입력될 때 제어 이득을 크게 설정한 후 이를 토대로 제어 지령치를 산출한다.The electronically controlled suspension device according to the present invention sets the control gain when the high frequency signal having the small curvature is input, calculates the control command value based on the control gain, and the control gain when the low frequency signal having the large curvature is input. After large setting, calculate the control command value based on this.

이상 설명한 바와 같이, 본 발명은 차속 또는 수직 가속도 센서에서 출력되는 신호별로 비선형 제어 이득을 적용하여 댐퍼의 감쇠력을 제어하기 위한 제어 지령치를 산출함으로써, 승차감과 조정 안정성을 확보할 수 있다.As described above, the present invention can secure a ride comfort and adjustment stability by calculating a control command value for controlling the damping force of the damper by applying a nonlinear control gain for each signal output from the vehicle speed or vertical acceleration sensor.

한편, 본 발명은 상술한 실시예에 국한되는 것이 아니라 후술되는 청구범위에 기재된 본 발명의 기술적 사상과 범주내에서 당업자에 의해 여러 가지 변형이 가능하다.On the other hand, the present invention is not limited to the above-described embodiment, various modifications are possible by those skilled in the art within the spirit and scope of the present invention described in the claims to be described later.

Claims (2)

가변 댐퍼를 제어하기 위한 제어 지령치를 산출하는 전자제어 현가장치에 있어서,An electronically controlled suspension for calculating a control command value for controlling a variable damper, 차체의 수직 가속도 성분을 추출하여 제공하는 센서부와,A sensor unit for extracting and providing a vertical acceleration component of the vehicle body, 상기 센서부에서 제공되는 수직 가속도 성분을 연산하여 차체의 수직 속도를 산출하는 신호 처리부와,A signal processor for calculating a vertical velocity of the vehicle body by calculating a vertical acceleration component provided by the sensor unit; 상기 수직 가속도 성분의 진폭별 제어 이득이 설정되어 있으며, 상기 센서부에서 제공되는 수직 가속도 성분의 진폭을 검출한 후 이에 대응되는 제어 이득을 추출하는 제어 이득 결정부와,A control gain determination unit configured to control the amplitude-specific control gain of the vertical acceleration component, and detect the amplitude of the vertical acceleration component provided by the sensor unit and extract a control gain corresponding thereto; 상기 제이 이득 결정부에서 제공되는 제어 이득과 상기 신호 처리부에서 제공되는 차체의 수직 속도를 이용하여 제어 지령치를 산출하는 제어 지령치 산출부와,A control command value calculator for calculating a control command value by using the control gain provided by the second gain determiner and the vertical velocity of the vehicle body provided by the signal processor; 상기 제어 지령치에 의거하여 상기 가변 댐퍼를 구동시키는 댐퍼 구동부A damper driver for driving the variable damper based on the control command value. 를 포함하는 전자제어 현가장치.Electronically controlled suspension comprising a. 제 1 항에 있어서,The method of claim 1, 상기 제어 이득 결정부는,The control gain determiner, 상기 차체 수직 속도 성분의 진폭별 제어 이득이 설정되어 있으며, 상기 신호 처리부에서 제공되는 차체 수직 속도 성분의 진폭을 검출한 후 이에 대응되는 제어 이득을 추출하는 것을 특징으로 하는 전자제어 현가장치.And a control gain for each amplitude of the vehicle body vertical speed component is set, and extracts a control gain corresponding to the amplitude of the vehicle body vertical speed component provided by the signal processor.
KR1020050050296A 2005-06-13 2005-06-13 Electro control suspension system KR100675480B1 (en)

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KR1020050050296A KR100675480B1 (en) 2005-06-13 2005-06-13 Electro control suspension system
JP2006009743A JP4199239B2 (en) 2005-06-13 2006-01-18 Electronically controlled suspension device
CNB2006100023259A CN100465005C (en) 2005-06-13 2006-01-26 Electrically controlled suspension system
DE602006006754T DE602006006754D1 (en) 2005-06-13 2006-02-01 Suspension with variable damping
EP06101136A EP1733903B1 (en) 2005-06-13 2006-02-01 Suspension with variable damping
US11/347,180 US7526665B2 (en) 2005-06-13 2006-02-03 Electrically controlled suspension system

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